Qiskit/qiskit: Qiskit 2.3.1

Changelog Fixed Avoid panics in Quantum Shannon Decomposition Rust code (backport #15635) (#15802) Fix QPY bug with user-defined register named 'ancilla' (#15623) (#15801) Fix synth_clifford_depth_lnn for single-qubit Cliffords (#15781) (#15785) Bump minimal NumPy Version to 1.21 (#15705) (#15708) Fix HighLevelSynthesis qubit tracking mechanism (#15685) (#15687) Fix ParameterExpression.sympify() for RPOW operations (#15642) (#15681) Fixing QuantumCircuit.repeat with parameterized gates (#15646) (#15677) Fix digit escaping in OpenQASM 3 identifier (#15305) (#15650) Add check excluding BreakLoop and ContinueLoop from control flow identification (#15626) (#15628) Fix "`BreakLoopOp' object has no attribute 'blocks" bug (#15581) (#15594) Handle zero-length permutation synthesis (#15556) (#15559) Automatically determine coeffs type in SparsePauliOp.from_sparse_list (#15427) (#15548) Check length of bit_terms before accessing during qk_obs_term (#15537) (#15539) Fix plot_state_qsphere phase anchor bias due to solver noise (#15494) (#15534)